def __init__(self, map_name='campus'): self.map = MapLoader.load(path='resources/campus.json') self.pt = PositionTracker(osmap=self.map) self.pf = PositionFetcher(self.pt) self.planner = PathPlanner(self.pt, on_wp_reached=self.remove_waypoint) self.vis = Visualizer(map_name=map_name, pt=self.pt, add_wp=self.add_waypoint, osmap=self.map) self.waypoints_lock = Lock() self.waypoints_changed = True self.waypoints: Optional[List[Waypoint]] = None self.set_waypoints([])
def main(): exit_keys = (pygame.K_ESCAPE, ) background_colour = (255, 255, 255) width, height = (1400, 750) screen = pygame.display.set_mode((width, height)) pygame.font.init() font = pygame.font.SysFont('Helvetica', 16) pygame.display.set_caption('CarSim') screen.fill(background_colour) pygame.display.flip() running = True waypoints = [] car = Car(width/2, height/2) dt = 0 last = time.time_ns() pt = PositionTracker() pp = PathPlanner(car, pt) while running: for event in pygame.event.get(): if event.type == pygame.QUIT or (event.type == pygame.KEYDOWN and event.key in exit_keys): running = False break if event.type == pygame.MOUSEBUTTONDOWN: x, y = pygame.mouse.get_pos() waypoints.append(Waypoint(x, y)) if event.type == pygame.KEYDOWN and event.key == pygame.K_r: if car.cruise_control_on: car.disable_cruise_control() else: car.enable_cruise_control(80) if event.type == pygame.KEYDOWN and event.key == pygame.K_q: if car.front_wheel.has_target and car.front_wheel.target_rotation < 0: car.unset_steer_target() else: car.steer_target(20, Direction.LEFT) if event.type == pygame.KEYDOWN and event.key == pygame.K_e: if car.front_wheel.has_target and car.front_wheel.target_rotation > 0: car.unset_steer_target() else: car.steer_target(20, Direction.RIGHT) pressed = pygame.key.get_pressed() if pressed[pygame.K_w]: car.accelerate() if pressed[pygame.K_a]: car.steer_left(dt) if pressed[pygame.K_d]: car.steer_right(dt) if pressed[pygame.K_s]: car.apply_brake(dt) if pressed[pygame.K_SPACE]: car.full_speed() car.update(dt) if car.velocity: pt.add(car.position) pp.plan(waypoints) screen.fill(background_colour) for wp in waypoints: pygame.draw.circle(screen, Waypoint.sec_color, (wp.x, wp.y), wp.tolerance) pygame.draw.circle(screen, Waypoint.color, (wp.x, wp.y), wp.radius) # pygame.draw.rect(screen, (255, 0, 0), car.rect) screen.blit(car.image, car.rect) # pygame.draw.line(screen, car.sensor.color, car.sensor.center, car.sensor.get_end(), 2) speed = font.render(f'v={round(car.velocity)} kmh', True, (0, 0, 0)) screen.blit(speed, (width-speed.get_width()-5, 5)) cc = font.render(f'CC {("off", "on")[car.cruise_control_on]}', True, (0, 0, 0)) screen.blit(cc, (width-cc.get_width()-5, 10 + speed.get_height())) wheel = font.render(f'Wheel: {round(car.front_wheel.rotation)}°', True, (0, 0, 0)) screen.blit(wheel, (width - wheel.get_width() - 5, 15 + speed.get_height()*2)) target = font.render(f'Target: {round(car.front_wheel.target_rotation)}°', True, (0, 0, 0)) screen.blit(target, (width - target.get_width() - 5, 20 + speed.get_height() * 3)) rot = font.render(f'Car rotation: {None if pt.rotation is None else round(pt.rotation * 100) / 100}°', True, (0, 0, 0)) screen.blit(rot, (width - rot.get_width() - 5, 25 + speed.get_height() * 4)) des = font.render(f'Desired rotation: {None if pp.desired_heading is None else round(pp.desired_heading * 100) / 100}°', True, (0, 0, 0)) screen.blit(des, (width - des.get_width() - 5, 30 + speed.get_height() * 5)) pygame.display.flip() current = time.time_ns() dt = (current - last) / 10 ** 9 last = current
elif event.type == pygame.KEYDOWN and event.key == pygame.K_a: self.draw_adjusted = not self.draw_adjusted elif event.type == pygame.KEYDOWN and event.key == pygame.K_s: self.draw_exact = not self.draw_exact elif event.type == pygame.MOUSEBUTTONDOWN and event.button == 1: x, y = pygame.mouse.get_pos() x, y = self.cart_to_coords(x, y) self.add_waypoint(Waypoint(x, y)) def update(self): self.update_from_pt() self.poll_events() if __name__ == '__main__': pt = PositionTracker(osmap=None) vis = Visualizer('garage', pt, add_wp=lambda wp: None) files = [ 'geodoma', 'geohrbitov', 'geolouky', 'geoolsina', 'geoolsinaauto', 'geoolsinazahradni', 'garage', 'waypoint1', 'waypoint2', 'waypointstart' ] files = [f'resources/{name}.csv' for name in files] begin_x = vis.map.left_top[0] begin_y = vis.map.left_top[1] w = vis.map.right_bottom[0] - vis.map.left_top[0] h = vis.map.left_top[1] - vis.map.right_bottom[1] _waypoints = [ Waypoint(begin_x + w * 0.7, begin_y - h * 0.6),